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Policy adaptation with tactile feedback

Authors:

Brenna D. Argall,

Eric L. Sauser,

Aude G. BillardAuthors Info & Claims

HRI '11: Proceedings of the 6th international conference on Human-robot interaction

Pages 107 - 108

https://doi.org/10.1145/1957656.1957684

Published: 06 March 2011 Publication History

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Abstract

Behavior adaptation with execution experience is a practical feature for any policy learning system. Our work provides performance feedback to a robot learner in the form of tactile corrections from a human teacher, for the purpose of policy refinement as well as policy reuse. Multiple variants of our general approach have been validated on the iCub robot, as building blocks towards a high-DoF humanoid system that integrates tactile sensing on the hands and arms into complex behaviors and sophisticated learning routines.

References

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B. Argall, S. Chernova, B. Browning, and M. Veloso. A survey of robot learning from demonstration. Robotics and Autonomous Systems, 57(5):469--483, 2009.

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B. D. Argall, E. L. Sauser, and A. G. Billard. Tactile guidance for policy refinement and reuse. In Proceedings of ICDL, 2010.

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Index Terms

Policy adaptation with tactile feedback
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic components
    2. Sensors and actuators
2. Computing methodologies
  1. Machine learning

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Information

Published In

HRI '11: Proceedings of the 6th international conference on Human-robot interaction

March 2011

526 pages

ISBN:9781450305617

DOI:10.1145/1957656

General Chairs:
Aude Billard
EPFL, Switzerland
,
Peter Kahn
University of Washington, USA
,
Program Chairs:
Julie A. Adams
Vanderbilt University, USA
,
Greg Trafton
US Naval Research Laboratories, USA

In-Cooperation

RA: IEEE Robotics and Automation Society
Human Factors & Ergonomics Soc: Human Factors & Ergonomics Soc
The Association for the Advancement of Artificial Intelligence (AAAI)
IEEE Systems, Man and Cybernetics Society

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 06 March 2011

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HRI'11

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HRI'11: International Conference on Human-Robot Interaction

March 6 - 9, 2011

Lausanne, Switzerland

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Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Abstract

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Recommendations

Development of a humanoid robot

Tactile Guidance for Policy Adaptation

Vision-based maze navigation for humanoid robots

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